CN110821330A - Method and device for preventing people from being clamped between vehicle door and shielding door gap - Google Patents
Method and device for preventing people from being clamped between vehicle door and shielding door gap Download PDFInfo
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- 238000001514 detection method Methods 0.000 claims description 47
- 238000012545 processing Methods 0.000 claims description 23
- 238000004590 computer program Methods 0.000 claims description 7
- 230000006870 function Effects 0.000 claims description 5
- 238000004891 communication Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 230000004888 barrier function Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000013135 deep learning Methods 0.000 description 1
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- E—FIXED CONSTRUCTIONS
- E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
- E05F—DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION; CHECKS FOR WINGS; WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
- E05F15/00—Power-operated mechanisms for wings
- E05F15/40—Safety devices, e.g. detection of obstructions or end positions
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61B—RAILWAY SYSTEMS; EQUIPMENT THEREFOR NOT OTHERWISE PROVIDED FOR
- B61B1/00—General arrangement of stations, platforms, or sidings; Railway networks; Rail vehicle marshalling systems
- B61B1/02—General arrangement of stations and platforms including protection devices for the passengers
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- E—FIXED CONSTRUCTIONS
- E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
- E05F—DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION; CHECKS FOR WINGS; WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
- E05F15/00—Power-operated mechanisms for wings
- E05F15/70—Power-operated mechanisms for wings with automatic actuation
- E05F15/73—Power-operated mechanisms for wings with automatic actuation responsive to movement or presence of persons or objects
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- E—FIXED CONSTRUCTIONS
- E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
- E05F—DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION; CHECKS FOR WINGS; WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
- E05F15/00—Power-operated mechanisms for wings
- E05F15/70—Power-operated mechanisms for wings with automatic actuation
- E05F15/73—Power-operated mechanisms for wings with automatic actuation responsive to movement or presence of persons or objects
- E05F2015/765—Power-operated mechanisms for wings with automatic actuation responsive to movement or presence of persons or objects using optical sensors
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- E—FIXED CONSTRUCTIONS
- E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
- E05F—DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION; CHECKS FOR WINGS; WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
- E05F15/00—Power-operated mechanisms for wings
- E05F15/70—Power-operated mechanisms for wings with automatic actuation
- E05F15/73—Power-operated mechanisms for wings with automatic actuation responsive to movement or presence of persons or objects
- E05F2015/767—Power-operated mechanisms for wings with automatic actuation responsive to movement or presence of persons or objects using cameras
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- E—FIXED CONSTRUCTIONS
- E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
- E05Y—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES E05D AND E05F, RELATING TO CONSTRUCTION ELEMENTS, ELECTRIC CONTROL, POWER SUPPLY, POWER SIGNAL OR TRANSMISSION, USER INTERFACES, MOUNTING OR COUPLING, DETAILS, ACCESSORIES, AUXILIARY OPERATIONS NOT OTHERWISE PROVIDED FOR, APPLICATION THEREOF
- E05Y2900/00—Application of doors, windows, wings or fittings thereof
- E05Y2900/40—Application of doors, windows, wings or fittings thereof for gates
- E05Y2900/404—Application of doors, windows, wings or fittings thereof for gates for railway platform gates
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- E—FIXED CONSTRUCTIONS
- E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
- E05Y—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES E05D AND E05F, RELATING TO CONSTRUCTION ELEMENTS, ELECTRIC CONTROL, POWER SUPPLY, POWER SIGNAL OR TRANSMISSION, USER INTERFACES, MOUNTING OR COUPLING, DETAILS, ACCESSORIES, AUXILIARY OPERATIONS NOT OTHERWISE PROVIDED FOR, APPLICATION THEREOF
- E05Y2900/00—Application of doors, windows, wings or fittings thereof
- E05Y2900/50—Application of doors, windows, wings or fittings thereof for vehicles
- E05Y2900/51—Application of doors, windows, wings or fittings thereof for vehicles for railway cars or mass transit vehicles
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- E—FIXED CONSTRUCTIONS
- E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
- E05Y—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES E05D AND E05F, RELATING TO CONSTRUCTION ELEMENTS, ELECTRIC CONTROL, POWER SUPPLY, POWER SIGNAL OR TRANSMISSION, USER INTERFACES, MOUNTING OR COUPLING, DETAILS, ACCESSORIES, AUXILIARY OPERATIONS NOT OTHERWISE PROVIDED FOR, APPLICATION THEREOF
- E05Y2900/00—Application of doors, windows, wings or fittings thereof
- E05Y2900/50—Application of doors, windows, wings or fittings thereof for vehicles
- E05Y2900/53—Type of wing
- E05Y2900/531—Doors
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
The embodiment of the invention discloses a method and a device for preventing people from being clamped in a gap between a vehicle door and a shield door, wherein the method for preventing people from being clamped in the gap between the vehicle door and the shield door comprises the following steps: acquiring real-time gap data of a gap between a current vehicle door and a shield door and preset reference gap data, wherein the preset reference gap data is data when no vehicle door is in the gap between the current vehicle door and the shield door; and determining whether a person exists in the gap between the current vehicle door and the shielding door based on the real-time gap data and the preset reference gap data so as to prevent the person from being clamped between the current vehicle door and the shielding door. The invention can improve the safety of passengers, improve the train operation efficiency and reduce the operation cost.
Description
Technical Field
The invention relates to the technical field of rail transit, in particular to a method and a device for preventing people from being clamped between a vehicle door and a shielding door.
Background
With the continuous development of urban rail transit construction, more and more passengers select rail transit means such as subways and high-speed rails to go out. In the operation process of a train, an accident that a passenger is clamped between a shielding door of a platform and a door of the train often occurs, and the personal safety of the passenger is seriously influenced.
At the present stage, in order to prevent the passenger from being clamped between the shielding door of the platform and the door of the train, a shielding door safety baffle, a lookout lamp belt, a correlation type photoelectric switch and an infrared light curtain can be generally arranged, and the lookout observation of train staff is combined to determine whether the passenger is clamped between the shielding door of the platform and the train door, so as to prevent safety accidents. Like this, because the train is formed by the multisection carriage is connected usually, train body length is longer usually, can appear the staff and can't see the condition in remote door and shield door clearance (the condition of door and shield door far away from the staff promptly) and the erroneous judgement appears to can reduce passenger's security to a certain extent, and then influence train operation efficiency.
Disclosure of Invention
Because the existing method has the problems, the embodiment of the invention provides a method and a device for preventing people from being clamped between a vehicle door and a shield door.
In a first aspect, an embodiment of the present invention provides a method for preventing people from being pinched between a vehicle door and a shield door, including:
acquiring real-time gap data of a gap between a current vehicle door and a shield door and preset reference gap data, wherein the preset reference gap data is data when no vehicle door is in the gap between the current vehicle door and the shield door;
and determining whether a person exists in the gap between the current vehicle door and the shielding door based on the real-time gap data and the set reference gap data so as to prevent the person from being clamped between the current vehicle door and the shielding door.
Optionally, the gap data includes one or both of gap laser point cloud data and gap image data.
Optionally, when the gap data is gap laser point cloud data, determining whether there is a person in the gap between the current vehicle door and the shield door based on the real-time gap data and the reference gap data includes:
determining a reference detection point corresponding to a current detection point in real-time gap laser point cloud data in preset reference gap laser point cloud data, and determining whether the distance between the current detection point and the reference detection point is greater than a preset maximum distance;
if the current detection point is greater than the preset maximum distance, determining the current detection point as a first detection point, and judging whether the number of the first detection points is greater than the preset maximum number;
and if the number of the vehicle doors is larger than the preset maximum number, determining that a person is in the gap between the current vehicle door and the shield door.
Optionally, when the gap data is gap image data, determining whether there is a person in the gap between the current vehicle door and the shield door based on the real-time gap data and the reference gap data includes:
acquiring historical gap image data of a current vehicle door and shield door gap with a person in a preset time before the current time, and constructing a pre-judging model based on the historical gap image data and reference gap image data;
and determining whether a person exists in the gap between the current vehicle door and the shield door or not based on the real-time gap image data and the pre-judgment model.
Optionally, when the gap data includes gap laser point cloud data and gap image data, determining whether there is a person in the gap between the current vehicle door and the shield door based on the real-time gap data and the reference gap data includes:
determining whether a person exists in the gap between the current vehicle door and the shield door or not based on the real-time gap laser point cloud data and the preset reference gap laser point cloud data to obtain a first determination result;
determining whether a person exists in the gap between the current vehicle door and the shielding door or not based on the real-time gap image data and the reference gap image data to obtain a second determination result;
and determining a target dangerous area in the gap between the current vehicle door and the shielded door based on the first determination result and the second determination result, and determining whether people exist in the target dangerous area through object identification.
Optionally, the determining a target danger zone in the gap between the current vehicle door and the shielded door based on the first determination result and the second determination result includes:
based on the first determination result and the second determination result, performing combined calibration on the real-time gap laser point cloud data and the real-time gap image data to obtain combined calibration gap data;
and determining a target dangerous area in the gap between the current vehicle door and the shielding door through the Mahalanobis distance and a joint probability density function based on the joint calibration gap data.
Optionally, after determining whether there is a person in the gap between the current vehicle door and the shield door, the method further includes:
and if a person exists in the gap between the current vehicle door and the shield door, determining the identification number of the current vehicle door, generating an alarm message based on the identification number, and sending the alarm message.
In a second aspect, an embodiment of the present invention further provides a device for preventing people from being pinched between a vehicle door and a shield door, including an obtaining module and a processing module, wherein:
the acquisition module is used for acquiring real-time gap data of a gap between the current vehicle door and the shield door and preset reference gap data, wherein the preset reference gap data is data when no vehicle door is in the gap between the current vehicle door and the shield door;
and the processing module is used for determining whether a person exists in the gap between the current vehicle door and the shielding door based on the real-time gap data and the set reference gap data so as to prevent the person from being clamped between the current vehicle door and the shielding door.
In a third aspect, an embodiment of the present invention further provides an electronic device, including:
at least one processor; and
at least one memory communicatively coupled to the processor, wherein:
the memory stores program instructions executable by the processor, which when called by the processor are capable of performing the above-described methods.
In a fourth aspect, an embodiment of the present invention further provides a non-transitory computer-readable storage medium storing a computer program, which causes the computer to execute the above method.
According to the technical scheme, the embodiment of the invention obtains the real-time gap data and the preset reference gap data of the gap between the vehicle door and the shield door, and determines whether the gap between the vehicle door and the shield door exists or not based on the real-time gap data and the preset reference gap data. Like this, on the one hand, whether the automatic determination door and shield door clearance someone's the condition, the misjudgement that appears when can avoiding artifical the affirmation reduces the occurence of failure to can effectively improve passenger's security, improve train operating efficiency. On the other hand, the consumption of human resources can be effectively saved, and the operation cost is reduced.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a detection system according to an embodiment of the present invention;
FIG. 2 is a side view of a laser radar installation according to an embodiment of the present invention;
FIG. 3 is a schematic flow chart illustrating a method for preventing people from being pinched between a door and a screen door according to an embodiment of the present invention;
FIG. 4 is a schematic structural view of a device for preventing people from being pinched between a vehicle door and a screen door according to an embodiment of the present invention;
fig. 5 is a logic block diagram of an electronic device according to an embodiment of the present invention.
Detailed Description
The following further describes embodiments of the present invention with reference to the accompanying drawings. The following examples are only for illustrating the technical solutions of the present invention more clearly, and the protection scope of the present invention is not limited thereby.
The embodiment of the invention provides a method for preventing people from being clamped between a vehicle door and a shield door, wherein an execution main body of the method can be a detection system, and referring to fig. 1, the detection system can comprise a laser radar and a camera which are arranged on each vehicle door, a storage host which acquires and stores data collected by the laser radar and the camera, and a processing host which comprises a communication unit, a point cloud data processing unit, an image data processing unit and a data identification processing unit. Wherein, the communication unit can obtain the gap data from the storage host; the point cloud data processing unit can perform data processing on the clearance laser point cloud data to determine whether a person exists in the clearance between the vehicle door and the shield door; the image data processing unit can perform data processing on the gap image data to determine whether a person exists in the gap between the vehicle door and the shielding door; the data identification processing unit can perform data processing on the gap laser point cloud data and the gap image data to determine whether a person exists in the gap between the vehicle door and the shielding door. The laser radar and the camera, the laser radar and the storage host, the camera and the storage host, and the storage host and the processing are communicated through Ethernet interfaces. Referring to fig. 2, fig. 2 shows a side view of the installation of the lidar, which may be a 3D solid-state lidar, with a scanning range of 132 × 9degree (660 × 24 lines), a range resolution of 5cm, a body width of 10cm (newborn), a resolution installed height of more than 0.7m, i.e. covering a gap space of 15cm in width, and at most covering an area bound range of 28.44cm in width.
Fig. 3 shows a schematic flowchart of a method for preventing people from being pinched between a vehicle door and a screen door provided in this embodiment, which includes:
s301, acquiring real-time gap data of the gap between the current vehicle door and the shield door and preset reference gap data.
The gap between the current car door and the shield door refers to the gap between any car door of the train and the shield door corresponding to the car door.
The preset datum clearance data is data which is obtained in advance when no person exists in the clearance between the vehicle door and the shielding door.
The gap data may include one or both of gap laser point cloud data, gap image data.
In implementation, whether a person is in the gap between the current train and the shield door or not can be determined based on real-time gap data of the gap between the current train door and the shield door (the shield door corresponding to the current train door) and preset reference gap data so as to prevent the current train door and the shield door from being clamped by the person. Specifically, first, real-time gap data of a gap between the current vehicle door and the shield door may be acquired, where the real-time gap data may be one or two of gap laser point cloud data and gap image data. And then, the preset reference clearance data corresponding to the clearance between the current vehicle door and the shield door can be obtained.
S302, determining whether a person exists in the gap between the current vehicle door and the shielding door or not based on the real-time gap data and the preset reference gap data so as to prevent the person from being clamped between the current vehicle door and the shielding door.
In implementation, after the real-time gap data and the preset reference gap data of the gap between the current vehicle door and the shield door are acquired, data processing can be performed on the acquired real-time gap data and the preset reference gap data, and whether a person exists in the gap between the current vehicle door and the shield door is determined. Then, different messages can be sent according to the determination result, namely whether a person exists in the gap between the current vehicle door and the shield door, so that workers can take different measures according to the different messages to prevent the person from being clamped between the current vehicle door and the shield door and prevent accidents.
According to the technical scheme, the embodiment of the invention obtains the real-time gap data and the preset reference gap data of the gap between the vehicle door and the shield door, and determines whether the gap between the vehicle door and the shield door exists or not based on the real-time gap data and the preset reference gap data. Like this, on the one hand, whether the automatic determination door and shield door clearance someone's the condition, the misjudgement that appears when can avoiding artifical the affirmation reduces the occurence of failure to can effectively improve passenger's security, improve train operating efficiency. On the other hand, the consumption of human resources can be effectively saved, and the operation cost is reduced.
Further, on the basis of the above method embodiment, it may be determined whether there is a person in the gap between the current vehicle door and the shield door based on the real-time gap laser point cloud data and the preset reference gap laser point cloud data, and the corresponding processing of step S302 may be as follows: determining a reference detection point corresponding to a current detection point in real-time gap laser point cloud data in preset reference gap laser point cloud data, and determining whether the distance between the current detection point and the reference detection point is greater than a preset maximum distance; if the distance is larger than the preset maximum distance, determining the current detection point as a first detection point, and judging whether the number of the first detection points is larger than the preset maximum number; and if the number of the doors is larger than the preset maximum number, determining that a person is in the gap between the vehicle door and the shield door.
The first detection point refers to a detection point with the distance between the real-time data and the reference data being beyond a preset maximum distance.
The preset maximum distance refers to a preset maximum value of the distance between the real-time data corresponding to each detection point and the reference data, that is, when the distance between the real-time data corresponding to a certain detection point and the reference data is greater than the maximum value, the detection point can be determined as the first detection point.
In implementation, when the gap data is gap laser point cloud data, that is, the real-time gap data is real-time gap laser point cloud data, and the preset reference data is preset reference gap laser point cloud data, first, a detection point (which may be referred to as a reference detection point) corresponding to a current detection point in the real-time gap laser point cloud data in the preset reference laser point cloud data may be determined. Then, it may be determined whether the distance between the current detection point and the reference detection point is greater than the preset maximum distance. If the distance between the current detection point and the reference detection point is greater than the preset maximum distance, the current detection point can be determined as the first detection point. Thereafter, the number of the first detection points which are currently determined may be determined, and it may be determined whether the number is greater than a preset maximum number. If the number is larger than the preset maximum number, the gap between the current vehicle door and the shield door can be determined to be occupied. It is to be understood that, after determining whether each detection point in the real-time gap laser point cloud data is the first detection point, it may be determined whether the number of the first detection points is greater than the preset maximum number, or it may be determined each time after determining the current detection point. Therefore, when the number of the first detection points is larger than the preset maximum number, whether a person exists in the gap between the front vehicle door and the shielding door is determined, and the accuracy of the determination result can be further improved, so that the safety of passengers can be further improved, and the operation efficiency is further improved.
Further, on the basis of the above method embodiment, it may be determined whether there is a gap between the current vehicle door and the screen door based on the real-time gap image data and the preset reference gap image data, and the corresponding processing of step S302 may be as follows: acquiring historical gap image data of a current vehicle door and shield door gap with a person in a preset time before the current time, and constructing a pre-judgment model based on the historical gap image data and preset reference gap image data; and determining whether the gap between the current vehicle door and the shield door is occupied or not based on the real-time gap image data and the pre-judgment model.
And the preset time length refers to the time length corresponding to the preset historical gap image data.
In implementation, when the gap data is the gap image data, that is, the real-time gap data is the real-time gap image data, and the preset reference data is the preset reference gap image data, first, historical gap image data corresponding to a current gap between the vehicle door and the shield door within a preset time before the current time when a person is present can be obtained. Then, a pre-judgment model can be constructed based on the historical gap image data and the preset reference gap image data. If the method is used, firstly, based on a feature extraction algorithm, area boundary ranges corresponding to the gap between the current vehicle door and the shield door in historical gap image data and preset reference gap image data are respectively extracted; then, based on deep learning, the characteristics of the head, shoulders and the like of the passenger in the historical gap image data and the preset reference gap image data are extracted respectively so as to identify the passenger in the gap between the current vehicle door and the shield door; and then, comparing the features extracted based on the real-time gap image data and the preset reference gap image data, and performing shape and optical flow feature analysis to construct a pre-judgment model with joint judgment and multi-layer judgment according to different influences of the different features on a determination result (namely, a determination result whether a person exists in the gap between the current vehicle door and the shield door). After the pre-judging model is constructed, whether a person exists in the gap between the current vehicle door and the shield door can be determined based on the real-time gap image data and the pre-judging model, so that the accident that the person is clamped between the current vehicle door and the shield door can be prevented. Therefore, based on the real-time gap image data and the pre-judging model, whether a person exists in the gap between the current vehicle door and the shielding door can be determined quickly and intuitively in advance, and the accident that the person is included in the gap between the current vehicle door and the shielding door can be further avoided, so that the safety and the operation efficiency of passengers are further improved.
Further, on the basis of the above method embodiment, it may be determined whether there is a gap between the current vehicle door and the screen door based on the gap laser point cloud data and the gap image data, and the corresponding processing of step S302 may be as follows: determining whether a person exists in the gap between the current vehicle door and the shield door or not based on the real-time gap laser point cloud data and the preset reference gap laser point cloud data to obtain a first determination result; determining whether a person exists in the gap between the current vehicle door and the shielding door or not based on the real-time gap image data and the preset reference gap image data to obtain a second determination result; and determining a target dangerous area in the gap between the current vehicle door and the shielded door based on the first determination result and the second determination result, and determining whether people exist in the target dangerous area through object identification.
In implementation, considering that the reflectivity of the laser radar of certain materials is low, and the problem that the light may be dim in the gap between the current vehicle door and the shield door is solved, the result of determining whether the gap between the current vehicle door and the shield door is occupied or not based on the gap laser point cloud data or the gap image data alone may not be accurate enough. Therefore, whether a person exists in the gap between the current vehicle door and the shield door can be determined based on the gap laser point cloud data and the gap image data. Specifically, when the gap data includes gap laser point cloud data and gap image data, that is, the real-time gap data includes real-time gap laser point cloud data and real-time gap image data, and the preset reference data includes preset reference gap laser point cloud data and preset reference gap image data, first, it may be determined whether there is a person in the current gap between the vehicle door and the shield door based on the real-time gap laser point cloud data and the preset reference gap laser point cloud data, that is, a first determination result. Then, whether a person exists in the gap between the current vehicle door and the shield door or not can be determined based on the real-time gap image data and the preset reference gap image data, namely, a second determination result. Then, based on the first determination result and the second determination result, further analysis can be performed to determine a possible area of people in the gap between the current vehicle door and the shielded door, namely a target dangerous area. Then, it may be further determined whether or not a person is in the aforementioned target risk area based on an object recognition method. Therefore, the first determination result and the second determination result are further analyzed to determine whether a person exists in the gap between the current vehicle door and the shield door, so that the accuracy of the determination result can be further improved, the accident that the vehicle door and the shield door clamp the person can be further reduced, the safety of passengers can be further improved, and the operation efficiency is improved.
Further, on the basis of the above method embodiment, the first determination result and the second determination result may be jointly calibrated to determine the target dangerous area in the gap between the current vehicle door and the barrier door, and the corresponding processing may be as follows: based on the first determination result and the second determination result, performing combined calibration on the real-time gap laser point cloud data and the real-time gap image data to obtain combined calibration gap data; and determining a target dangerous area in the gap between the current vehicle door and the shield door based on the combined calibration gap data and through the Mahalanobis distance and the combined probability density function.
In an implementation, after the first determination result and the second determination result are determined, the real-time gap laser point cloud data and the real-time gap image data may be jointly calibrated based on the first determination result and the second determination result, so as to obtain joint calibration gap data. Then, the gap data can be fitted and calibrated based on the above, observation value matching is carried out through the mahalanobis distance, and weight value distribution can be carried out on a sensor corresponding to a laser radar for collecting the real-time gap laser point cloud data and a sensor corresponding to a camera for collecting the real-time gap image data through a joint probability density function, so that fusion of the real-time gap laser point cloud data and the real-time gap image data is completed, and a target danger area in the gap between the current vehicle door and the shield door is determined. Therefore, the target dangerous area of the gap between the current vehicle door and the shield door is determined based on the joint calibration, the Mahalanobis distance and the joint probability density function, and the accuracy of the determined target dangerous area can be improved, so that the accuracy of the determination result can be further improved, the occurrence of the accident that people are clamped between the vehicle door and the shield door can be further reduced, and the safety and the operation efficiency of passengers can be improved.
Further, on the basis of the above method embodiment, when it is determined that there is a person in the gap between the current car door and the screen door, an alarm message may be sent, and the corresponding processing may be as follows: and if a person exists in the gap between the current vehicle door and the shield door, determining the identification number of the current vehicle door, generating an alarm message based on the identification number, and sending the alarm message.
In implementation, when it is determined that there is a person in the gap between the current vehicle door and the shield door, the identification number of the current vehicle door may be obtained, and the identification number may include the car number of the current vehicle door and the door number of the current vehicle door. Then, an alarm message may be generated based on the identification number of the current vehicle door, and the alarm message may carry at least the identification number of the current vehicle door and person-clamping information indicating that there is a person in the gap between the current vehicle door and the screen door. And then, sending the alarm message, for example, sending the alarm message to a train control system, so that the train control system can receive the alarm message, determine the gap between the door of the person and the shield door based on the alarm message, control the door and the shield door to be opened, and keep the train to brake so as to prevent the accident that the gap between the door and the shield door is clamped. In this way, passenger safety and operational efficiency can be further improved.
Fig. 4 shows a person-clamping prevention device for a gap between a vehicle door and a screen door provided by this embodiment, which includes an acquisition module 401 and a processing module 402, wherein:
the obtaining module 401 is configured to obtain real-time gap data of a gap between a current vehicle door and a shield door, and preset reference gap data, where the preset reference gap data is data of a current vehicle door and shield door gap when no vehicle door is in the gap;
the processing module 402 is configured to determine whether a person is in a gap between the current vehicle door and the shield door based on the real-time gap data and the set reference gap data, so as to prevent the person from being caught between the current vehicle door and the shield door.
The gap anti-human-clamping device for the vehicle door and the shielding door can be used for executing the method embodiment, the principle and the technical effect are similar, and the repeated description is omitted here.
Referring to fig. 5, the electronic device includes: a processor (processor)501, a memory (memory)502, and a bus 503;
wherein the content of the first and second substances,
the processor 501 and the memory 502 are communicated with each other through the bus 503;
the processor 501 is used to call program instructions in the memory 502 to perform the methods provided by the above-described method embodiments.
The present embodiments disclose a computer program product comprising a computer program stored on a non-transitory computer readable storage medium, the computer program comprising program instructions which, when executed by a computer, enable the computer to perform the methods provided by the above-described method embodiments.
The present embodiments provide a non-transitory computer-readable storage medium storing computer instructions that cause the computer to perform the methods provided by the method embodiments described above.
The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware. With this understanding in mind, the above-described technical solutions may be embodied in the form of a software product, which can be stored in a computer-readable storage medium such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the methods described in the embodiments or some parts of the embodiments.
It should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. The utility model provides a door and shield door clearance prevent tong people method which characterized in that includes:
acquiring real-time gap data of a gap between a current vehicle door and a shield door and preset reference gap data, wherein the preset reference gap data is data when no vehicle door is in the gap between the current vehicle door and the shield door;
and determining whether a person exists in the gap between the current vehicle door and the shielding door based on the real-time gap data and the preset reference gap data so as to prevent the person from being clamped between the current vehicle door and the shielding door.
2. The door and screen door gap anti-pinch method of claim 1, wherein the gap data comprises one or both of gap laser point cloud data and gap image data.
3. The method of claim 2, wherein when the gap data is gap laser point cloud data, determining whether a person is in the gap between the current vehicle door and the shield door based on the real-time gap data and the preset reference gap data comprises:
determining a reference detection point corresponding to a current detection point in real-time gap laser point cloud data in preset reference gap laser point cloud data, and determining whether the distance between the current detection point and the reference detection point is greater than a preset maximum distance;
if the current detection point is greater than the preset maximum distance, determining the current detection point as a first detection point, and judging whether the number of the first detection points is greater than the preset maximum number;
and if the number of the vehicle doors is larger than the preset maximum number, determining that a person is in the gap between the current vehicle door and the shield door.
4. The method of claim 2, wherein when the gap data is gap image data, determining whether a person is in the gap between the current vehicle door and the shield door based on the real-time gap data and the preset reference gap data comprises:
acquiring historical gap image data of a current vehicle door and shield door gap with a person in a preset time before the current time, and constructing a pre-judgment model based on the historical gap image data and preset reference gap image data;
and determining whether a person exists in the gap between the current vehicle door and the shield door or not based on the real-time gap image data and the pre-judgment model.
5. The method of claim 2, wherein when the gap data includes gap laser point cloud data and gap image data, determining whether a person is in the gap between the current vehicle door and the shield door based on the real-time gap data and the preset reference gap data comprises:
determining whether a person exists in the gap between the current vehicle door and the shield door or not based on the real-time gap laser point cloud data and the preset reference gap laser point cloud data to obtain a first determination result;
determining whether a person exists in the gap between the current vehicle door and the shielding door or not based on the real-time gap image data and the preset reference gap image data to obtain a second determination result;
and determining a target dangerous area in the gap between the current vehicle door and the shielded door based on the first determination result and the second determination result, and determining whether people exist in the target dangerous area through object identification.
6. The method of claim 5, wherein determining the target hazard zone in the current door-to-screen door gap based on the first and second determinations comprises:
based on the first determination result and the second determination result, performing combined calibration on the real-time gap laser point cloud data and the real-time gap image data to obtain combined calibration gap data;
and determining a target dangerous area in the gap between the current vehicle door and the shielding door through the Mahalanobis distance and a joint probability density function based on the joint calibration gap data.
7. The method of claim 1, wherein after determining whether the current door-shield gap is occupied, further comprising:
and if a person exists in the gap between the current vehicle door and the shield door, determining the identification number of the current vehicle door, generating an alarm message based on the identification number, and sending the alarm message.
8. The utility model provides a door and shield door clearance prevent pressing from both sides people device which characterized in that, includes and acquires module and processing module, wherein:
the acquisition module is used for acquiring real-time gap data of a gap between the current vehicle door and the shield door and preset reference gap data, wherein the preset reference gap data is data when no vehicle door is in the gap between the current vehicle door and the shield door;
and the processing module is used for determining whether a person exists in the gap between the current vehicle door and the shielding door based on the real-time gap data and the preset reference gap data so as to prevent the person from being clamped between the current vehicle door and the shielding door.
9. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor executes the program to implement the method of preventing human entrapment in a door-to-screen door gap of any of claims 1 to 7.
10. A non-transitory computer readable storage medium having a computer program stored thereon, wherein the computer program when executed by a processor implements the method of preventing a person from being pinched between a door and a screen door gap of any one of claims 1 to 7.
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| CN201911176844.0A CN110821330B (en) | 2019-11-26 | 2019-11-26 | Method and device for preventing people from being clamped between vehicle door and shielding door gap |
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| CN113311443A (en) * | 2020-02-26 | 2021-08-27 | 保定市天河电子技术有限公司 | Anti-pinch detection method and system for bus shielding door |
| CN113734207A (en) * | 2020-05-29 | 2021-12-03 | 比亚迪股份有限公司 | Vehicle safety protection system and method and vehicle |
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| CN110821330B (en) | 2021-03-12 |
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